/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* EtherCAT Pdo assignment state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_pdo_assign.h"
/*****************************************************************************/
void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);
void ec_fsm_pdo_assign_next_dir(ec_fsm_pdo_assign_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_pdo_assign_init(
ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
)
{
fsm->fsm_coe = fsm_coe;
ec_sdo_request_init(&fsm->request);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_pdo_assign_clear(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
ec_sdo_request_clear(&fsm->request);
}
/*****************************************************************************/
/** Start Pdo assignment state machine.
*/
void ec_fsm_pdo_assign_start(
ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
ec_slave_t *slave /**< slave to configure */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_pdo_assign_state_start;
}
/*****************************************************************************/
/** Get running state.
*
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_assign_running(
const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
return fsm->state != ec_fsm_pdo_assign_state_end
&& fsm->state != ec_fsm_pdo_assign_state_error;
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* of the state machine is delayed to the next cycle.
*
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_assign_exec(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
fsm->state(fsm);
return ec_fsm_pdo_assign_running(fsm);
}
/*****************************************************************************/
/** Get execution result.
*
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_pdo_assign_success(
const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
return fsm->state == ec_fsm_pdo_assign_state_end;
}
/******************************************************************************
* State functions.
*****************************************************************************/
/** Start Pdo assignment.
*/
void ec_fsm_pdo_assign_state_start(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
if (!fsm->slave->config) {
fsm->state = ec_fsm_pdo_assign_state_end;
return;
}
fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
fsm->num_configured_dirs = 0;
ec_fsm_pdo_assign_next_dir(fsm);
}
/*****************************************************************************/
/** Process Pdo assignment of next direction.
*/
void ec_fsm_pdo_assign_next_dir(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
fsm->dir++;
for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
fsm->pdos = &fsm->slave->config->pdos[fsm->dir];
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
if (!list_empty(&fsm->pdos->list)) {
EC_ERR("No sync manager for direction %u!\n", fsm->dir);
fsm->state = ec_fsm_pdo_assign_state_end;
return;
}
continue;
}
// check if assignment has to be altered
if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
continue;
// Pdo assignment has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
EC_ERR("Slave %u does not support assigning Pdos!\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_assign_state_error;
return;
}
fsm->num_configured_dirs++;
if (fsm->slave->master->debug_level) {
EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_assign_state_error;
return;
}
// set mapped Pdo count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
fsm->state = ec_fsm_pdo_assign_state_zero_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
if (fsm->slave->master->debug_level && !fsm->num_configured_dirs)
EC_DBG("Pdo assignments of slave %u are already configured"
" correctly.\n", fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_assign_state_end;
}
/*****************************************************************************/
/** Assign next Pdo.
*/
ec_pdo_t *ec_fsm_pdo_assign_next_pdo(
const ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
const struct list_head *list /**< current Pdo list item */
)
{
list = list->next;
if (list == &fsm->pdos->list)
return NULL; // no next Pdo
return list_entry(list, ec_pdo_t, list);
}
/*****************************************************************************/
/** Assign a Pdo.
*/
void ec_fsm_pdo_assign_add_pdo(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
fsm->request.data_size = 2;
ec_sdo_request_address(&fsm->request,
0x1C10 + fsm->sync->index, fsm->pdo_count);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
fsm->pdo->index, fsm->pdo_count);
fsm->state = ec_fsm_pdo_assign_state_add_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}
/*****************************************************************************/
/** Set the number of assigned Pdos to zero.
*/
void ec_fsm_pdo_assign_state_zero_count(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to clear Pdo assignment of slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_assign_state_error;
return;
}
// assign all Pdos belonging to the current sync manager
// find first Pdo
if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
if (fsm->slave->master->debug_level)
EC_DBG("No Pdos to assign for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
ec_fsm_pdo_assign_next_dir(fsm);
return;
}
// assign first Pdo
fsm->pdo_count = 1;
ec_fsm_pdo_assign_add_pdo(fsm);
}
/*****************************************************************************/
/** Add a Pdo to the sync managers Pdo assignment.
*/
void ec_fsm_pdo_assign_state_add_pdo(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_assign_state_error;
return;
}
// find next Pdo
if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {
// no more Pdos to map. write Pdo count
EC_WRITE_U8(fsm->request.data, fsm->pdo_count);
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Setting number of assigned Pdos to %u.\n",
fsm->pdo_count);
fsm->state = ec_fsm_pdo_assign_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
// add next Pdo to assignment
fsm->pdo_count++;
ec_fsm_pdo_assign_add_pdo(fsm);
}
/*****************************************************************************/
/** Set the number of assigned Pdos.
*/
void ec_fsm_pdo_assign_state_pdo_count(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to set number of assigned Pdos for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_assign_state_error;
return;
}
if (fsm->slave->master->debug_level)
EC_DBG("Successfully configured Pdo assignment for SM%u of"
" slave %u.\n", fsm->sync->index, fsm->slave->ring_position);
// assignment for this direction finished
ec_fsm_pdo_assign_next_dir(fsm);
}
/******************************************************************************
* Common state functions
*****************************************************************************/
/** State: ERROR.
*/
void ec_fsm_pdo_assign_state_error(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_pdo_assign_state_end(
ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
)
{
}
/*****************************************************************************/